interestingness_ros

ROS wrapper for interestingness package.

If you want plain python package, go to interestingness instead.

Instructions:

• Only work with Python 3.

• Dependencies:

  ROS, PyTorch 1.4+, Matplotlib.

• For ROS Melodic with Ubuntu 18.04.

  • Following this instruction to setup Python 3. Here what I put in the '.bashrc'.

    source /opt/ros/melodic/setup.bash
    source ~/catkin_ws/devel/setup.bash
    source ~/catkin_build_ws/install/setup.bash --extend # from the above medium post
    export ROS_PYTHON_VERSION=3
    

  • Install husky_gazebo for visualization.

    sudo apt install ros-melodic-husky-gazebo
    

• For ROS Noetic with Ubuntu 20.04.

  • ROS Noetic is native with Python 3.

  • Until June 2020, husky_gazebo doesn't work on ROS Noetic. You need to comment 'robot.launch' in all launch files.

    <!-- <include file="$(find interestingness_ros)/launch/robot.launch" /> -->
    

  • We have not provide other visualization methods. But you can still run the program.

• Remember to update the submodule before catkin_make.

  cd ~/catkin_ws/src
  git clone https://github.com/wang-chen/interestingness_ros
  cd interestingness_ros
  git submodule init
  git submodule update
  

• Download pre-trained model ae.pt.SubTF.n1000.mse into folder "saves", or change argument in "interestingness.launch".

  <param name="model-save" value="$(find interestingness_ros)/saves/ae.pt.SubTF.n1000.mse" />
  

• Download the SubT ROS bag files into folder [datalocation].

• Change the argument "datalocation" in L4 of "subtf_bags.launch" to [datalocation], e.g.,

  <arg name="datalocation" default="/data/datasets"/>
  

• You may change sequence ID and bag playing speed in L321 of "subtf_bags.launch".

  <node pkg="rosbag" type="play" name="rosbag" args="--clock -r 3 $(arg SubT4)"/>
  

• The corresponding sequence ID is listed:

  Data sequence	ID	ROS args
  0817-ugv0-tunnel0	0	SubT0
  0817-ugv1-tunnel0	1	SubT1
  0818-ugv0-tunnel1	2	SubT2
  0818-ugv1-tunnel1	3	SubT3
  0820-ugv0-tunnel1	4	SubT4
  0821-ugv0-tunnel0	5	SubT5
  0821-ugv1-tunnel0	6	SubT6

• Run

  roslaunch interestingness_ros interestingness_subtf.launch
  # You need to wait for a while for first launch.
  

• You may need to uncomment image transform in L147 in "interestingness_node.py" for UGV0 sequences in SubTF.

  VerticalFlip(), # Front camera of UGV0 in SubTF is mounted vertical flipped. Uncomment this line when needed.
  

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Citation

@inproceedings{wang2020visual,
  title={Visual memorability for robotic interestingness via unsupervised online learning},
  author={Wang, Chen and Wang, Wenshan and Qiu, Yuheng and Hu, Yafei and Scherer, Sebastian},
  booktitle={European Conference on Computer Vision (ECCV)},
  year={2020},
  organization={Springer}
}

• Download this paper.

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You may watch the following video to catch the idea of this work.